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<a href="#pub-static-methods">静态 Public 成员函数</a> &#124;
<a href="structpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01true_01_4-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::io::OrganizedConversion&lt; PointT, true &gt; 模板结构体 参考</div>  </div>
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静态 Public 成员函数</h2></td></tr>
<tr class="memitem:a9121c3d27a9c3390d48cd1b96b2f88ee"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01true_01_4.html#a9121c3d27a9c3390d48cd1b96b2f88ee">convert</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;cloud_arg, float focalLength_arg, float disparityShift_arg, float disparityScale_arg, bool convertToMono, typename std::vector&lt; uint16_t &gt; &amp;disparityData_arg, typename std::vector&lt; uint8_t &gt; &amp;rgbData_arg)</td></tr>
<tr class="memdesc:a9121c3d27a9c3390d48cd1b96b2f88ee"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convert point cloud to disparity image and rgb image  <a href="structpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01true_01_4.html#a9121c3d27a9c3390d48cd1b96b2f88ee">更多...</a><br /></td></tr>
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<tr class="memitem:ae1202bbc3864ed61308a9a80f30953e4"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01true_01_4.html#ae1202bbc3864ed61308a9a80f30953e4">convert</a> (typename std::vector&lt; uint16_t &gt; &amp;disparityData_arg, typename std::vector&lt; uint8_t &gt; &amp;rgbData_arg, bool monoImage_arg, size_t width_arg, size_t height_arg, float focalLength_arg, float disparityShift_arg, float disparityScale_arg, <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;cloud_arg)</td></tr>
<tr class="memdesc:ae1202bbc3864ed61308a9a80f30953e4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convert disparity image to point cloud  <a href="structpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01true_01_4.html#ae1202bbc3864ed61308a9a80f30953e4">更多...</a><br /></td></tr>
<tr class="separator:ae1202bbc3864ed61308a9a80f30953e4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9fd98b6fb1f0e3250c6db9f6bc0f946e"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01true_01_4.html#a9fd98b6fb1f0e3250c6db9f6bc0f946e">convert</a> (typename std::vector&lt; float &gt; &amp;depthData_arg, typename std::vector&lt; uint8_t &gt; &amp;rgbData_arg, bool monoImage_arg, size_t width_arg, size_t height_arg, float focalLength_arg, <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;cloud_arg)</td></tr>
<tr class="memdesc:a9fd98b6fb1f0e3250c6db9f6bc0f946e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convert disparity image to point cloud  <a href="structpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01true_01_4.html#a9fd98b6fb1f0e3250c6db9f6bc0f946e">更多...</a><br /></td></tr>
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<h2 class="groupheader">成员函数说明</h2>
<a id="a9121c3d27a9c3390d48cd1b96b2f88ee"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9121c3d27a9c3390d48cd1b96b2f88ee">&#9670;&nbsp;</a></span>convert() <span class="overload">[1/3]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">static void <a class="el" href="structpcl_1_1io_1_1_organized_conversion.html">pcl::io::OrganizedConversion</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, true &gt;::convert </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>focalLength_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>disparityShift_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>disparityScale_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>convertToMono</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">typename std::vector&lt; uint16_t &gt; &amp;&#160;</td>
          <td class="paramname"><em>disparityData_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">typename std::vector&lt; uint8_t &gt; &amp;&#160;</td>
          <td class="paramname"><em>rgbData_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Convert point cloud to disparity image and rgb image </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_arg</td><td>input point cloud </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">focalLength_arg</td><td>focal length </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">disparityShift_arg</td><td>disparity shift </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">disparityScale_arg</td><td>disparity scaling </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">convertToMono</td><td>convert color to mono/grayscale </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">disparityData_arg</td><td>output disparity image </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">rgbData_arg</td><td>output rgb image </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      {</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;        <span class="keywordtype">size_t</span> cloud_size, i;</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        cloud_size = cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ();</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        <span class="comment">// Reset output vectors</span></div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;        disparityData_arg.clear ();</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;        rgbData_arg.clear ();</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160; </div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;        <span class="comment">// Allocate memory</span></div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;        disparityData_arg.reserve (cloud_size);</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;        <span class="keywordflow">if</span> (convertToMono)</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;        {</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;          rgbData_arg.reserve (cloud_size);</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;        } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        {</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;          rgbData_arg.reserve (cloud_size * 3);</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;        }</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160; </div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;        <span class="keywordflow">for</span> (i = 0; i &lt; cloud_size; ++i)</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;        {</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;          <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point = cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i];</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160; </div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;          <span class="keywordflow">if</span> (pcl::isFinite (point))</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;          {</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;            <span class="keywordflow">if</span> (convertToMono)</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;            {</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;              <span class="comment">// Encode point color</span></div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;              <span class="keyword">const</span> uint32_t rgb = *<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">int</span>*<span class="keyword">&gt;</span> (&amp;point.rgb);</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;              uint8_t grayvalue = <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span>(0.2989 * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>((rgb &gt;&gt; 16) &amp; 0x0000ff) +</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;                                                       0.5870 * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>((rgb &gt;&gt; 8)  &amp; 0x0000ff) +</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;                                                       0.1140 * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>((rgb &gt;&gt; 0)  &amp; 0x0000ff));</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160; </div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;              rgbData_arg.push_back (grayvalue);</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;            } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;            {</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;              <span class="comment">// Encode point color</span></div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;              <span class="keyword">const</span> uint32_t rgb = *<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">int</span>*<span class="keyword">&gt;</span> (&amp;point.rgb);</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160; </div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;              rgbData_arg.push_back ( (rgb &gt;&gt; 16) &amp; 0x0000ff);</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;              rgbData_arg.push_back ( (rgb &gt;&gt; 8) &amp; 0x0000ff);</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;              rgbData_arg.push_back ( (rgb &gt;&gt; 0) &amp; 0x0000ff);</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;            }</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160; </div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160; </div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;            <span class="comment">// Inverse depth quantization</span></div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;            uint16_t disparity = <span class="keyword">static_cast&lt;</span>uint16_t<span class="keyword">&gt;</span> (focalLength_arg / (disparityScale_arg * point.z) + disparityShift_arg / disparityScale_arg);</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160; </div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;            <span class="comment">// Encode disparity</span></div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;            disparityData_arg.push_back (disparity);</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;          }</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;          {</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160; </div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;            <span class="comment">// Encode black point</span></div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;            <span class="keywordflow">if</span> (convertToMono)</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;            {</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;              rgbData_arg.push_back (0);</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;            } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;            {</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;              rgbData_arg.push_back (0);</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;              rgbData_arg.push_back (0);</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;              rgbData_arg.push_back (0);</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;            }</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160; </div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;            <span class="comment">// Encode bad point</span></div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;            disparityData_arg.push_back (0);</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;          }</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;        }</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160; </div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
</div><!-- fragment -->
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<a id="a9fd98b6fb1f0e3250c6db9f6bc0f946e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9fd98b6fb1f0e3250c6db9f6bc0f946e">&#9670;&nbsp;</a></span>convert() <span class="overload">[2/3]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">static void <a class="el" href="structpcl_1_1io_1_1_organized_conversion.html">pcl::io::OrganizedConversion</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, true &gt;::convert </td>
          <td>(</td>
          <td class="paramtype">typename std::vector&lt; float &gt; &amp;&#160;</td>
          <td class="paramname"><em>depthData_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">typename std::vector&lt; uint8_t &gt; &amp;&#160;</td>
          <td class="paramname"><em>rgbData_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>monoImage_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>width_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>height_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>focalLength_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Convert disparity image to point cloud </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">depthData_arg</td><td>output disparity image </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">rgbData_arg</td><td>output rgb image </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">monoImage_arg</td><td>input image is a single-channel mono image </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">width_arg</td><td>width of disparity image </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">height_arg</td><td>height of disparity image </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">focalLength_arg</td><td>focal length </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">cloud_arg</td><td>output point cloud </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;      {</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;        <span class="keywordtype">size_t</span> i;</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;        <span class="keywordtype">size_t</span> cloud_size = width_arg*height_arg;</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;        <span class="keywordtype">bool</span> hasColor = (rgbData_arg.size () &gt; 0);</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160; </div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;        <span class="comment">// Check size of input data</span></div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;        assert (depthData_arg.size()==cloud_size);</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;        <span class="keywordflow">if</span> (hasColor)</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;        {</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;          <span class="keywordflow">if</span> (monoImage_arg)</div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;          {</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;            assert (rgbData_arg.size()==cloud_size);</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;          } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;          {</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;            assert (rgbData_arg.size()==cloud_size*3);</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;          }</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;        }</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160; </div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;        <span class="keywordtype">int</span> x, y, centerX, centerY;</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160; </div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;        <span class="comment">// Reset point cloud</span></div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.clear();</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.reserve(cloud_size);</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160; </div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;        <span class="comment">// Define point cloud parameters</span></div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(width_arg);</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(height_arg);</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160; </div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;        <span class="comment">// Calculate center of disparity image</span></div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;        centerX = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(width_arg/2);</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;        centerY = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(height_arg/2);</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160; </div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> fl_const = 1.0f/focalLength_arg;</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">float</span> bad_point = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160; </div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;        i = 0;</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;        <span class="keywordflow">for</span> (y=-centerY; y&lt;+centerY; ++y )</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;          <span class="keywordflow">for</span> (x=-centerX; x&lt;+centerX; ++x )</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;          {</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;            <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> newPoint;</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160; </div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span>&amp; pixel_depth = depthData_arg[i];</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160; </div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;            <span class="keywordflow">if</span> (pixel_depth==pixel_depth)</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;            {</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;              <span class="keywordtype">float</span> depth = focalLength_arg / pixel_depth;</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160; </div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;              <span class="comment">// Define point location</span></div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;              newPoint.z = depth;</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;              newPoint.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (x) * depth * fl_const;</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;              newPoint.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (y) * depth * fl_const;</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160; </div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;              <span class="keywordflow">if</span> (hasColor)</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;              {</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;                <span class="keywordflow">if</span> (monoImage_arg)</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;                {</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;                  <span class="keyword">const</span> uint8_t&amp; pixel_r = rgbData_arg[i];</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;                  <span class="keyword">const</span> uint8_t&amp; pixel_g = rgbData_arg[i];</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;                  <span class="keyword">const</span> uint8_t&amp; pixel_b = rgbData_arg[i];</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160; </div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;                  <span class="comment">// Define point color</span></div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;                  uint32_t rgb = (<span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(pixel_r) &lt;&lt; 16</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;                                | <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(pixel_g) &lt;&lt; 8</div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;                                | <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(pixel_b));</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;                  newPoint.rgb = *<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span>(&amp;rgb);</div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;                } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;                {</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;                  <span class="keyword">const</span> uint8_t&amp; pixel_r = rgbData_arg[i*3+0];</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;                  <span class="keyword">const</span> uint8_t&amp; pixel_g = rgbData_arg[i*3+1];</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;                  <span class="keyword">const</span> uint8_t&amp; pixel_b = rgbData_arg[i*3+2];</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160; </div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;                  <span class="comment">// Define point color</span></div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;                  uint32_t rgb = (<span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(pixel_r) &lt;&lt; 16</div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;                                | <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(pixel_g) &lt;&lt; 8</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;                                | <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(pixel_b));</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;                  newPoint.rgb = *<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span>(&amp;rgb);</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;                }</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160; </div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;              } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;              {</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;                <span class="comment">// Set white point color</span></div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;                uint32_t rgb = (<span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(255) &lt;&lt; 16</div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;                              | <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(255) &lt;&lt; 8</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;                              | <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(255));</div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;                newPoint.rgb = *<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span>(&amp;rgb);</div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;              }</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;            } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;            {</div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;              <span class="comment">// Define bad point</span></div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;              newPoint.x = newPoint.y = newPoint.z = bad_point;</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;              newPoint.rgb = 0.0f;</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;            }</div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160; </div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;            <span class="comment">// Add point to cloud</span></div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;            cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back(newPoint);</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;            <span class="comment">// Increment point iterator</span></div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;            ++i;</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;        }</div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#ae1202bbc3864ed61308a9a80f30953e4">&#9670;&nbsp;</a></span>convert() <span class="overload">[3/3]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">static void <a class="el" href="structpcl_1_1io_1_1_organized_conversion.html">pcl::io::OrganizedConversion</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, true &gt;::convert </td>
          <td>(</td>
          <td class="paramtype">typename std::vector&lt; uint16_t &gt; &amp;&#160;</td>
          <td class="paramname"><em>disparityData_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">typename std::vector&lt; uint8_t &gt; &amp;&#160;</td>
          <td class="paramname"><em>rgbData_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>monoImage_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>width_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>height_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>focalLength_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>disparityShift_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>disparityScale_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Convert disparity image to point cloud </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">disparityData_arg</td><td>output disparity image </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">rgbData_arg</td><td>output rgb image </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">monoImage_arg</td><td>input image is a single-channel mono image </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">width_arg</td><td>width of disparity image </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">height_arg</td><td>height of disparity image </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">focalLength_arg</td><td>focal length </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">disparityShift_arg</td><td>disparity shift </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">disparityScale_arg</td><td>disparity scaling </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">cloud_arg</td><td>output point cloud </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;      {</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;        <span class="keywordtype">size_t</span> i;</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;        <span class="keywordtype">size_t</span> cloud_size = width_arg*height_arg;</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;        <span class="keywordtype">bool</span> hasColor = (rgbData_arg.size () &gt; 0);</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160; </div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;        <span class="comment">// Check size of input data</span></div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;        assert (disparityData_arg.size()==cloud_size);</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;        <span class="keywordflow">if</span> (hasColor)</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;        {</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;          <span class="keywordflow">if</span> (monoImage_arg)</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;          {</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;            assert (rgbData_arg.size()==cloud_size);</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;          } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;          {</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;            assert (rgbData_arg.size()==cloud_size*3);</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;          }</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;        }</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160; </div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;        <span class="keywordtype">int</span> x, y, centerX, centerY;</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160; </div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;        <span class="comment">// Reset point cloud</span></div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.clear();</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.reserve(cloud_size);</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160; </div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;        <span class="comment">// Define point cloud parameters</span></div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(width_arg);</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(height_arg);</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160; </div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;        <span class="comment">// Calculate center of disparity image</span></div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;        centerX = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(width_arg/2);</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;        centerY = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(height_arg/2);</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160; </div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> fl_const = 1.0f/focalLength_arg;</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">float</span> bad_point = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160; </div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;        i = 0;</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;        <span class="keywordflow">for</span> (y=-centerY; y&lt;+centerY; ++y )</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;          <span class="keywordflow">for</span> (x=-centerX; x&lt;+centerX; ++x )</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;          {</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;            <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> newPoint;</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160; </div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;            <span class="keyword">const</span> uint16_t&amp; pixel_disparity = disparityData_arg[i];</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160; </div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;            <span class="keywordflow">if</span> (pixel_disparity &amp;&amp; (pixel_disparity!=0x7FF))</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;            {</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;              <span class="keywordtype">float</span> depth = focalLength_arg / (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (pixel_disparity) * disparityScale_arg + disparityShift_arg);</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160; </div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;              <span class="comment">// Define point location</span></div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;              newPoint.z = depth;</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;              newPoint.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (x) * depth * fl_const;</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;              newPoint.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (y) * depth * fl_const;</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160; </div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;              <span class="keywordflow">if</span> (hasColor)</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;              {</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;                <span class="keywordflow">if</span> (monoImage_arg)</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;                {</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;                  <span class="keyword">const</span> uint8_t&amp; pixel_r = rgbData_arg[i];</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;                  <span class="keyword">const</span> uint8_t&amp; pixel_g = rgbData_arg[i];</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;                  <span class="keyword">const</span> uint8_t&amp; pixel_b = rgbData_arg[i];</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160; </div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;                  <span class="comment">// Define point color</span></div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;                  uint32_t rgb = (<span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(pixel_r) &lt;&lt; 16</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;                                | <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(pixel_g) &lt;&lt; 8</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;                                | <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(pixel_b));</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;                  newPoint.rgb = *<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span>(&amp;rgb);</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;                } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;                {</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;                  <span class="keyword">const</span> uint8_t&amp; pixel_r = rgbData_arg[i*3+0];</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;                  <span class="keyword">const</span> uint8_t&amp; pixel_g = rgbData_arg[i*3+1];</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;                  <span class="keyword">const</span> uint8_t&amp; pixel_b = rgbData_arg[i*3+2];</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160; </div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;                  <span class="comment">// Define point color</span></div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;                  uint32_t rgb = (<span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(pixel_r) &lt;&lt; 16</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;                                | <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(pixel_g) &lt;&lt; 8</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;                                | <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(pixel_b));</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;                  newPoint.rgb = *<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span>(&amp;rgb);</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;                }</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160; </div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;              } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;              {</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;                <span class="comment">// Set white point color</span></div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;                uint32_t rgb = (<span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(255) &lt;&lt; 16</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;                              | <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(255) &lt;&lt; 8</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;                              | <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(255));</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;                newPoint.rgb = *<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span>(&amp;rgb);</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;              }</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;            } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;            {</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;              <span class="comment">// Define bad point</span></div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;              newPoint.x = newPoint.y = newPoint.z = bad_point;</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;              newPoint.rgb = 0.0f;</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;            }</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160; </div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;            <span class="comment">// Add point to cloud</span></div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;            cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back(newPoint);</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;            <span class="comment">// Increment point iterator</span></div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;            ++i;</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;        }</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;      }</div>
</div><!-- fragment -->
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